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<div class="title">FlexCAN driver<div class="ingroups"><a class="el" href="group__flexcan.html">Flex Controller Area Network (FlexCAN)</a></div></div>  </div>
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<p>This section describes the programming interface of the FlexCAN driver. The FlexCAN driver configures FlexCAN module, provides a functional and transactional interfaces to build the FlexCAN application.</p>
<h1><a class="anchor" id="FlexCANFunGrps"></a>
Function groups</h1>
<h2><a class="anchor" id="FLEXCANInitReset"></a>
FLEXCAN Initialization and De-initialization</h2>
<p>This function group initializes a default configuration structure for the FlexCAN module, initializes the FlexCAN module with a given configuration, resets, and de-initializes the FlexCAN module.</p>
<h2><a class="anchor" id="FlexCANConfig"></a>
FlexCAN Configuration</h2>
<p>This function group configures the FlexCAN module including the timing characteristic, transmit/receive message buffer, receive FIFO and Global/Individual masks for both receive message buffer and receive FIFO.</p>
<h2><a class="anchor" id="FlexCANBasicOps"></a>
FlexCAN Basic Operation</h2>
<p>This function group enables/disables the FlexCAN module, FlexCAN module interrupt, and FlexCAN message buffer interrupt and DMA. It also gets the receive FIFO head address for the receive FIFO DMA transfer.</p>
<h2><a class="anchor" id="FlexCANTransOps"></a>
FlexCAN Transfer Operation</h2>
<p>This function group controls the transfer action including writing the transfer message buffer, reading the receive message buffer, and reading the receive FIFO.</p>
<h2><a class="anchor" id="FlexCANStatusOps"></a>
FlexCAN Status Operation</h2>
<p>This function group gets/clears the FlexCAN module status the FlexCAN message buffer/receive FIFO status.</p>
<h2><a class="anchor" id="FlexCANBlockTrans"></a>
FlexCAN Block Transfer Operation</h2>
<p>This function group transfers a block of data, gets the transfer status, and aborts the transfer.</p>
<h1><a class="anchor" id="FlexCANTpyUC"></a>
Typical use case</h1>
<h2><a class="anchor" id="FlexCANMbSendOps"></a>
Message Buffer Send Operation</h2>
<div class="fragment"><div class="line"><a class="code" href="group__flexcan.html#structflexcan__config__t">flexcan_config_t</a> flexcanConfig;</div><div class="line"><a class="code" href="group__flexcan.html#structflexcan__frame__t">flexcan_frame_t</a> txFrame;</div><div class="line"></div><div class="line"><span class="comment">/* Init FlexCAN module. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga4eafdb971a92f517c69a80c15a216342">FLEXCAN_GetDefaultConfig</a>(&amp;flexcanConfig);</div><div class="line"><a class="code" href="group__flexcan.html#ga8d7ebf086fb294130fa30a0f75a5f340">FLEXCAN_Init</a>(EXAMPLE_CAN, &amp;flexcanConfig);</div><div class="line"></div><div class="line"><span class="comment">/* Enable FlexCAN module. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga20f79302d5fad90306a26b667f58fe4d">FLEXCAN_Enable</a>(EXAMPLE_CAN, <span class="keyword">true</span>);</div><div class="line"></div><div class="line"><span class="comment">/* Sets up the transmit message buffer. */</span></div><div class="line"><a class="code" href="group__flexcan.html#gadbf35cc05ed0d9a73eda5ac4fbb30ff0">FLEXCAN_SetTxMbConfig</a>(EXAMPLE_CAN, TX_MESSAGE_BUFFER_INDEX, <span class="keyword">true</span>);</div><div class="line"></div><div class="line"><span class="comment">/* Prepares the transmit frame for sending. */</span></div><div class="line">txFrame.format = KFLEXCAN_FrameFormatStandard;</div><div class="line">txFrame.type   = KFLEXCAN_FrameTypeData;</div><div class="line">txFrame.id     = FLEXCAN_ID_STD(0x123);</div><div class="line">txFrame.length = 8;</div><div class="line">txFrame.dataWord0 = CAN_WORD0_DATA_BYTE_0(0x11) |</div><div class="line">                    CAN_WORD0_DATA_BYTE_1(0x22) |</div><div class="line">                    CAN_WORD0_DATA_BYTE_2(0x33) |</div><div class="line">                    CAN_WORD0_DATA_BYTE_3(0x44);</div><div class="line">txFrame.dataWord1 = CAN_WORD1_DATA_BYTE_4(0x55) |</div><div class="line">                    CAN_WORD1_DATA_BYTE_5(0x66) |</div><div class="line">                    CAN_WORD1_DATA_BYTE_6(0x77) |</div><div class="line">                    CAN_WORD1_DATA_BYTE_7(0x88);</div><div class="line"><span class="comment">/* Writes a transmit message buffer to send a CAN Message. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga9ee9d599069a88a50cb7c7a894c87c69">FLEXCAN_WriteTxMb</a>(EXAMPLE_CAN, TX_MESSAGE_BUFFER_INDEX, &amp;txFrame);</div><div class="line"></div><div class="line"><span class="comment">/* Waits until the transmit message buffer is empty. */</span></div><div class="line"><span class="keywordflow">while</span> (!<a class="code" href="group__flexcan.html#gab6ed94b8a36d174fb30d3256e3b2d975">FLEXCAN_GetMbStatusFlags</a>(EXAMPLE_CAN, 1 &lt;&lt; TX_MESSAGE_BUFFER_INDEX));</div><div class="line"></div><div class="line"><span class="comment">/* Cleans the transmit message buffer empty status. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga800056b1b1ee4748d086329535e78274">FLEXCAN_ClearMbStatusFlags</a>(EXAMPLE_CAN, 1 &lt;&lt; TX_MESSAGE_BUFFER_INDEX);</div></div><!-- fragment --><h2><a class="anchor" id="FlexCANMbReceiveOps"></a>
Message Buffer Receive Operation</h2>
<div class="fragment"><div class="line"><a class="code" href="group__flexcan.html#structflexcan__config__t">flexcan_config_t</a> flexcanConfig;</div><div class="line"><a class="code" href="group__flexcan.html#structflexcan__frame__t">flexcan_frame_t</a> rxFrame;</div><div class="line"></div><div class="line"><span class="comment">/* Initializes the FlexCAN module. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga4eafdb971a92f517c69a80c15a216342">FLEXCAN_GetDefaultConfig</a>(&amp;flexcanConfig);</div><div class="line"><a class="code" href="group__flexcan.html#ga8d7ebf086fb294130fa30a0f75a5f340">FLEXCAN_Init</a>(EXAMPLE_CAN, &amp;flexcanConfig);</div><div class="line"></div><div class="line"><span class="comment">/* Enables the FlexCAN module. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga20f79302d5fad90306a26b667f58fe4d">FLEXCAN_Enable</a>(EXAMPLE_CAN, <span class="keyword">true</span>);</div><div class="line"></div><div class="line"><span class="comment">/* Sets up the receive message buffer. */</span></div><div class="line">mbConfig.format    = KFLEXCAN_FrameFormatStandard;</div><div class="line">mbConfig.type      = KFLEXCAN_FrameTypeData;</div><div class="line">mbConfig.id        = FLEXCAN_ID_STD(0x123);</div><div class="line"><a class="code" href="group__flexcan.html#gaf335daf0156fab50571e55d2898bccb2">FLEXCAN_SetRxMbConfig</a>(EXAMPLE_CAN, RX_MESSAGE_BUFFER_INDEX, &amp;mbConfig, <span class="keyword">true</span>);</div><div class="line"></div><div class="line"><span class="comment">/* Waits until the receive message buffer is full. */</span></div><div class="line"><span class="keywordflow">while</span> (!<a class="code" href="group__flexcan.html#gab6ed94b8a36d174fb30d3256e3b2d975">FLEXCAN_GetMbStatusFlags</a>(EXAMPLE_CAN, 1 &lt;&lt; RX_MESSAGE_BUFFER_INDEX));</div><div class="line"></div><div class="line"><span class="comment">/* Reads the received message from the receive message buffer. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga93600de1691b5e6d8cc01e06efee7b68">FLEXCAN_ReadRxMb</a>(EXAMPLE_CAN, RX_MESSAGE_BUFFER_INDEX, &amp;rxFrame);</div><div class="line"></div><div class="line"><span class="comment">/* Cleans the receive message buffer full status. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga800056b1b1ee4748d086329535e78274">FLEXCAN_ClearMbStatusFlags</a>(EXAMPLE_CAN, 1 &lt;&lt; RX_MESSAGE_BUFFER_INDEX);</div></div><!-- fragment --><h2><a class="anchor" id="FlexCANFifoReceiveOps"></a>
Receive FIFO Operation</h2>
<div class="fragment"><div class="line">uint32_t rxFifoFilter[] = {FLEXCAN_RX_FIFO_STD_FILTER_TYPE_A(0x321, 0, 0),</div><div class="line">                           FLEXCAN_RX_FIFO_STD_FILTER_TYPE_A(0x321, 1, 0),</div><div class="line">                           FLEXCAN_RX_FIFO_STD_FILTER_TYPE_A(0x123, 0, 0),</div><div class="line">                           FLEXCAN_RX_FIFO_STD_FILTER_TYPE_A(0x123, 1, 0)};</div><div class="line"></div><div class="line"><a class="code" href="group__flexcan.html#structflexcan__config__t">flexcan_config_t</a> flexcanConfig;</div><div class="line"><a class="code" href="group__flexcan.html#structflexcan__frame__t">flexcan_frame_t</a> rxFrame;</div><div class="line"></div><div class="line"><span class="comment">/* Initializes the FlexCAN module. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga4eafdb971a92f517c69a80c15a216342">FLEXCAN_GetDefaultConfig</a>(&amp;flexcanConfig);</div><div class="line"><a class="code" href="group__flexcan.html#ga8d7ebf086fb294130fa30a0f75a5f340">FLEXCAN_Init</a>(EXAMPLE_CAN, &amp;flexcanConfig);</div><div class="line"></div><div class="line"><span class="comment">/* Enables the FlexCAN module. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga20f79302d5fad90306a26b667f58fe4d">FLEXCAN_Enable</a>(EXAMPLE_CAN, <span class="keyword">true</span>);</div><div class="line"></div><div class="line"><span class="comment">/* Sets up the receive FIFO. */</span></div><div class="line">rxFifoConfig.idFilterTable = rxFifoFilter;</div><div class="line">rxFifoConfig.idFilterType  = KFLEXCAN_RxFifoFilterTypeA;</div><div class="line">rxFifoConfig.idFilterNum   = <span class="keyword">sizeof</span>(rxFifoFilter) / <span class="keyword">sizeof</span>(rxFifoFilter[0]);</div><div class="line">rxFifoConfig.priority      = KFLEXCAN_RxFifoPrioHigh;</div><div class="line"><a class="code" href="group__flexcan.html#ga40140a86bc8481442286a61aa668d508">FlEXCAN_SetRxFifoConfig</a>(EXAMPLE_CAN, &amp;rxFifoConfig, <span class="keyword">true</span>);</div><div class="line"></div><div class="line"><span class="comment">/* Waits until the receive FIFO becomes available. */</span></div><div class="line"><span class="keywordflow">while</span> (!<a class="code" href="group__flexcan.html#gab6ed94b8a36d174fb30d3256e3b2d975">FLEXCAN_GetMbStatusFlags</a>(EXAMPLE_CAN, KFLEXCAN_RxFifoFrameAvlFlag));</div><div class="line"></div><div class="line"><span class="comment">/* Reads the message from the receive FIFO. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga0f74840527f5e882c72746315bc06576">FlEXCAN_ReadRxFifo</a>(EXAMPLE_CAN, &amp;rxFrame);</div><div class="line"></div><div class="line"><span class="comment">/* Cleans the receive FIFO available status. */</span></div><div class="line"><a class="code" href="group__flexcan.html#ga800056b1b1ee4748d086329535e78274">FLEXCAN_ClearMbStatusFlags</a>(EXAMPLE_CAN, KFLEXCAN_RxFifoFrameAvlFlag);</div></div><!-- fragment --> </div><!-- contents -->
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